StatusBroadcaster

A controller which publishes DuaDrive specific information.

Usage

1. Create an entry in your controllers.yaml and add it to your launch file infrastructure. You may activate this controller on startup

2. Activate the controller -> You should now see a /<controller name>/state topic

Configuration example

dynaarm_status_broadcaster:
  ros__parameters:
    joints:
      - shoulder_rotation
      - shoulder_flexion
      - elbow_flexion
      - forearm_rotation
      - wrist_flexion
      - wrist_rotation

Interaction

Subscribe to topic /<controller name>/state which is of type: duatic_controller_msgs/msg/DriveStateCollection

For each drive the following information is published:

Name	Description
name	drive name
id	ethercat bus id
joint position	cubrrent joint position in rad
joint velocity	current joint velocity in rad
joint effort	current joint effort in rad
joint position commanded	current commanded joint position as seen by the drive
joint velocity commanded	current commanded joint velocity as seen by the drive
joint torque commanded	current commanded joint torque as seen by the drive
temperature system	system temperature (max of all sensors) in °C
temperature phase a	temperature of phase 1 in °C
temperature phase b	temperature of phase 2 in °C
temperature phase c	temperature of phase 3 in °C
bus voltage	measured dc voltage in V
current q	measured q current in A
current d	measured d current in A
current phase a	measured current of phase 1 in A
current phase b	measured current of phase 2 in A
current phase c	measured current of phase 3 in A

Parameters

Name	Description	Default	Bounds
joints	List of joint names as described in the URDF the controller shall handle	-	may not be empty

Notes